IFM Electronic Ecomat Mobile Series System Manual page 122

CAN in the ecomatmobile controller
Example with function CANx_MASTER_SEND_EMERGENCY
In this example 3 error messages will be generated subsequently:
1. ApplError1, Code = 16#FF00 in the error register 16#81
2. ApplError2, Code = 16#FF01 in the error register 16#81
3. ApplError3, Code = 16#FF02 in the error register 16#81
The function CAN1_MASTER_EMCY_HANDLER sends the error messages to the error register
"Object1001h" in the error array "Object1003h".
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ifm System Manual ecomatmobile SmartController (CR2500) V05
ifm CANopen library